Distributed Control of Multiple Flexible Manipulators With Unknown Disturbances and Dead-Zone Input
Multiple flexible manipulators can be used to complete some repeatable missions. Each flexible manipulator can be described as an underactuated Lagrangian system based on the assumed modes method. Also, the actuator nonlinearity may deteriorate the system performance. Hence, this article aims to dev...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2020-11, Vol.67 (11), p.9937-9947 |
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| container_title | IEEE transactions on industrial electronics (1982) |
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| creator | Chen, Ti Shan, Jinjun |
| description | Multiple flexible manipulators can be used to complete some repeatable missions. Each flexible manipulator can be described as an underactuated Lagrangian system based on the assumed modes method. Also, the actuator nonlinearity may deteriorate the system performance. Hence, this article aims to develop a distributed controller to solve the leader-follower consensus of multiple flexible manipulators with uncertain parameters, unknown disturbances, and actuator dead zones. The disturbances are classified as repeatable and nonrepeatable ones. The adaptive, iterative learning, and sliding-mode control techniques are used to handle uncertain parameters, repeatable, and nonrepeatable disturbances, respectively. Based on a dead-zone inverse and a finite-time observer, a distributed controller is developed to drive the flexible manipulators to track a moving leader and keep the flexible vibrations bounded simultaneously. Experimental results are presented to verify the effectiveness of the proposed controller. |
| doi_str_mv | 10.1109/TIE.2019.2955417 |
| format | Article |
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Each flexible manipulator can be described as an underactuated Lagrangian system based on the assumed modes method. Also, the actuator nonlinearity may deteriorate the system performance. Hence, this article aims to develop a distributed controller to solve the leader-follower consensus of multiple flexible manipulators with uncertain parameters, unknown disturbances, and actuator dead zones. The disturbances are classified as repeatable and nonrepeatable ones. The adaptive, iterative learning, and sliding-mode control techniques are used to handle uncertain parameters, repeatable, and nonrepeatable disturbances, respectively. Based on a dead-zone inverse and a finite-time observer, a distributed controller is developed to drive the flexible manipulators to track a moving leader and keep the flexible vibrations bounded simultaneously. Experimental results are presented to verify the effectiveness of the proposed controller.</description><identifier>ISSN: 0278-0046</identifier><identifier>EISSN: 1557-9948</identifier><identifier>DOI: 10.1109/TIE.2019.2955417</identifier><identifier>CODEN: ITIED6</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Actuators ; Adaptive control ; Controllers ; Dead zone ; distributed control ; Disturbances ; flexible manipulator ; Flexible manipulators ; iterative learning control ; Manipulator dynamics ; Mathematical model ; Parameter uncertainty ; Payloads ; Sliding mode control ; Torque ; underactuated Lagrangian system</subject><ispartof>IEEE transactions on industrial electronics (1982), 2020-11, Vol.67 (11), p.9937-9947</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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Each flexible manipulator can be described as an underactuated Lagrangian system based on the assumed modes method. Also, the actuator nonlinearity may deteriorate the system performance. Hence, this article aims to develop a distributed controller to solve the leader-follower consensus of multiple flexible manipulators with uncertain parameters, unknown disturbances, and actuator dead zones. The disturbances are classified as repeatable and nonrepeatable ones. The adaptive, iterative learning, and sliding-mode control techniques are used to handle uncertain parameters, repeatable, and nonrepeatable disturbances, respectively. Based on a dead-zone inverse and a finite-time observer, a distributed controller is developed to drive the flexible manipulators to track a moving leader and keep the flexible vibrations bounded simultaneously. Experimental results are presented to verify the effectiveness of the proposed controller.</description><subject>Actuators</subject><subject>Adaptive control</subject><subject>Controllers</subject><subject>Dead zone</subject><subject>distributed control</subject><subject>Disturbances</subject><subject>flexible manipulator</subject><subject>Flexible manipulators</subject><subject>iterative learning control</subject><subject>Manipulator dynamics</subject><subject>Mathematical model</subject><subject>Parameter uncertainty</subject><subject>Payloads</subject><subject>Sliding mode control</subject><subject>Torque</subject><subject>underactuated Lagrangian system</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kE1LAzEQhoMoWKt3wUvA89bJZj-So1SrhRYvLYKXkOwmmLoma5JF_fduafE0c3jed5gHoWsCM0KA322Wj7McCJ_lvCwLUp-gCSnLOuO8YKdoAnnNMoCiOkcXMe4ASFGScoKaBxtTsGpIusVz71LwHfYGr4cu2b7TeNHpH6vGZS2d7YdOJh8ifrXpHW_dh_PfDu8rhqCka3TE0rX4Qcs2e_NO46Xrh3SJzozsor46zinaLh438-ds9fK0nN-vsoZSljIqQTFT6bwEZjg3ihctI0wXtAEF1IDRDVVUEtnwqpZSEspaDpyCIo1Rmk7R7aG3D_5r0DGJnR-CG0-KvMirqobx5ZGCA9UEH2PQRvTBfsrwKwiIvUoxqhR7leKocozcHCJWa_2PM05qTin9A37-cMw</recordid><startdate>20201101</startdate><enddate>20201101</enddate><creator>Chen, Ti</creator><creator>Shan, Jinjun</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope><orcidid>https://orcid.org/0000-0002-4911-6739</orcidid><orcidid>https://orcid.org/0000-0003-4254-2521</orcidid></search><sort><creationdate>20201101</creationdate><title>Distributed Control of Multiple Flexible Manipulators With Unknown Disturbances and Dead-Zone Input</title><author>Chen, Ti ; Shan, Jinjun</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c338t-3a0b8f6e2508f99fb94d818e43c0b03f0fec3b3a1ac967aaa138d90930b1cfbe3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Actuators</topic><topic>Adaptive control</topic><topic>Controllers</topic><topic>Dead zone</topic><topic>distributed control</topic><topic>Disturbances</topic><topic>flexible manipulator</topic><topic>Flexible manipulators</topic><topic>iterative learning control</topic><topic>Manipulator dynamics</topic><topic>Mathematical model</topic><topic>Parameter uncertainty</topic><topic>Payloads</topic><topic>Sliding mode control</topic><topic>Torque</topic><topic>underactuated Lagrangian system</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Chen, Ti</creatorcontrib><creatorcontrib>Shan, Jinjun</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>IEEE transactions on industrial electronics (1982)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Chen, Ti</au><au>Shan, Jinjun</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Distributed Control of Multiple Flexible Manipulators With Unknown Disturbances and Dead-Zone Input</atitle><jtitle>IEEE transactions on industrial electronics (1982)</jtitle><stitle>TIE</stitle><date>2020-11-01</date><risdate>2020</risdate><volume>67</volume><issue>11</issue><spage>9937</spage><epage>9947</epage><pages>9937-9947</pages><issn>0278-0046</issn><eissn>1557-9948</eissn><coden>ITIED6</coden><abstract>Multiple flexible manipulators can be used to complete some repeatable missions. Each flexible manipulator can be described as an underactuated Lagrangian system based on the assumed modes method. Also, the actuator nonlinearity may deteriorate the system performance. Hence, this article aims to develop a distributed controller to solve the leader-follower consensus of multiple flexible manipulators with uncertain parameters, unknown disturbances, and actuator dead zones. The disturbances are classified as repeatable and nonrepeatable ones. The adaptive, iterative learning, and sliding-mode control techniques are used to handle uncertain parameters, repeatable, and nonrepeatable disturbances, respectively. Based on a dead-zone inverse and a finite-time observer, a distributed controller is developed to drive the flexible manipulators to track a moving leader and keep the flexible vibrations bounded simultaneously. Experimental results are presented to verify the effectiveness of the proposed controller.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TIE.2019.2955417</doi><tpages>11</tpages><orcidid>https://orcid.org/0000-0002-4911-6739</orcidid><orcidid>https://orcid.org/0000-0003-4254-2521</orcidid></addata></record> |
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| ispartof | IEEE transactions on industrial electronics (1982), 2020-11, Vol.67 (11), p.9937-9947 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Actuators Adaptive control Controllers Dead zone distributed control Disturbances flexible manipulator Flexible manipulators iterative learning control Manipulator dynamics Mathematical model Parameter uncertainty Payloads Sliding mode control Torque underactuated Lagrangian system |
| title | Distributed Control of Multiple Flexible Manipulators With Unknown Disturbances and Dead-Zone Input |
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